Lecture 14 - Rapidly-exploring Random Tree (RRT)


This lecture goes over a more complex path planning algorithm. It takes into account obstacle avoidance when planning a path from the vehicle’s current position to the desired goal position. We will go over different graph/tree search algorithms such as best first search, A*, and Dijkstra’s.

Topics Covered:
  • Occupancy grids

  • RRT

  • Search algorithms

  • A*, Dijkstra’s, BFS

Associated Assignment:


Links to additional resources: